The paper related to the problem of creation the new technology of multi-agent control for industrial automation -creating the automated system, realising multi-recipes production of a large number of types with logical processing of contradictions. This required to find a proper software decisions for distant access, reprogramming and monitoring the production line even during it's functioning. The created system of logical processing, basing on brunching time logics, and parallel software, controlling production line as well as the imitation modelling, are a new way for intelligent industry 4.0.

This Publication has to be referred as: Davydov AbstractThis paper presents a solution to the problems of redundancy and organisation of the software architecture inherent in robotic systems and its' simulators. The analysis and comparison of these solutions with the existing ones are given. It was designed a new software architecture for controlling mobile robotic complexes on the base of two models. Developed simulators and usage of the actor model were the base for creating the technological platforms for distributed software control, providing the simultaneous access of several users to a group of mobile robots and their virtual models.Keywords: building a network of robotarium; distributed control of mobile robots and their simulation software for mobile robot; reservation methods in robotics; dynamic reprogramming Main problemsWhen developing intelligent robots, one of the problems is the lack of effective software to create systems of group control. For example, in the well-known software packages (ROS, MRS, and others) does not included specific development tools for control of distributed mechatronic systems, especially in remote mode. They also have a common disadvantage, that is the unreasonably high costs associated with installing, upgrading and maintaining equipment and working in this software environment. This paper presents the results of the development and testing of the new software-information platform to provide the user with unified access to the software environment to control a variety of robots, including operational and remote changes of executing programs during their functioning.This enables the following: reducing the cost of setting up executing programs; implementation of operational adjustments during operation of the robots; improving the efficiency of the developed technical tools for teaching and learning processes of the students (see Fig. 1), specialised in robotics and IT-industry, by increasing the use of training equipment due to the paralleling access to it.-1234 -

Increasing the efficiency of underwater operations with the help of automatic machines can be achieved by using a robotic complex in a special configuration -with a functional division into three interacting parts: a remote control panel with an operator; a basic underwater walking platform, connected by a cable with the control panel for information and energy supply; a group of autonomous robots with increased maneuverability, having information communication lines with the base station via a contactless channel. Within the framework of this concept, the paper considers and solves the main problems of creating information-control systems for such robotic systems, including the necessary communication tools. One of the key solved problems was constructing the proper sensor-control real-time software system. The paper was partially supported by RFBR, projects 16-

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